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Publications (3)0 Total impact

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    ABSTRACT: Automatization is supposed to improve working conditions and safety in the construction industry, as it already did in manufacturing industries. This paper presents the development of a robotic control system for a commercially available hydraulic telescopic handler. The target application for the telescopic handler is semi-automated assembly of facade panels. The base handler was upgraded with two additional hydraulic axes, position sensors and closed-loop control system, while the original handler safety assurance mechanisms were preserved. The control approach is based on a PI controller with velocity feedforward and valve overlap compensation. The direct and inverse kinematic models of handler mechanism were developed to enable control of end-effector motion along a straight line in the Cartesian coordinate system. The motion performances were evaluated following the ISO 9283 standard with payload of 2000 kg. Results show the repeatability of positioning bellow 7.0 mm and the straight line tracking error smaller than 63 mm.
    Automation in Construction. 01/2010;
  • [Show abstract] [Hide abstract]
    ABSTRACT: Automation is supposed to improve working conditions and safety in construction industry, as it already did in manufacturing industries. This paper presents the development of a robotic control system for a commercially available hydraulic telescopic handler. The target application for the telescopic handler is semi-automated assembly of facade panels. The base handler was upgraded with two additional hydraulic axes, position sensors and closed-loop control system, while the original handler safety assurance mechanisms were preserved. The control approach is based on a PI controller with velocity feedforward and valve overlap compensation. The direct and inverse kinematic models of handler mechanism were developed to enable control of end-effector motion along a straight line in Cartesian coordinate system. The motion performances were evaluated following the ISO 9283 standard with payload of 2000 kg. Results show the repeatability of positioning bellow 7.0 mm and the straight line tracking error smaller than 63 mm.
    01/2010;
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    ABSTRACT: Laboratorij za robotiko, Fakulteta za elektrotehniko, Univerza v Ljubljani Tržaška 25, 1000 Ljubljana {justin.cinkelj, roman.kamnik, peter.cepon, matjaz.mihelj, marko.munih}@robo.fe.uni-lj.si Robotic control of hydraulic telescopic handler Automation can reduce needed time and dangerous working conditions in construction industry. This paper presents development of a robot controller for a hydraulic telescopic handler aimed at automation of montage buildings assembly. The project is designed and financed by the company Trimo, Trebnje. We present key properties of the telescopic handler, identification of system parameters and development of a controller. Experiments on real machine showed acceptable performance for a real world application. Kratek pregled prispevka Avtomatizacija v gradbeništvu lahko skrajša čas izvedbe in izboljša delovne pogoje. V prispevku predstavljamo razvoj robotskega vodenja za hidravlično teleskopsko dvigalo, ki je namenjeno za avtomatizacijo montaže fasadnih elementov. Projekt je izveden na pobudo in s financiranjem podjetja Trimo iz Trebnjega. V delu so predstavljene lastnosti teleskopskega dvigala, identifikacija parametrov in razvoj zaprtozančnega vodenja. Eksperimentalni preizkusi na stroju kažejo zadovoljive lastnosti za uporabo v praktični aplikaciji.